The simple answer is you need a surround sound receiver or a stereo receiver with speaker A+B terminals so you can connect both pairs to it safely.
The receiver has to have an input compatible with your TV audio output. That could be analog audio (RCA or headphone jack), optical or coax digital audio, or HDMI-ARC digital audio output. You may need an adapter or converter depending on the specific TV and receiver.
A receiver is an preamplifier/controller+ power amplifier+radio. Even if you don't need the radio they are often cheaper than integrated amplifiers.